2016年7月9日 星期六

My Robot ,Arbu_Lucky, feet parts.(阿布拉機機器人_雙足)



This page share  feet parts of My Robot < ArbuLucky>.

You can download 3DP parts fromm below website:
http://www.thingiverse.com/thing:1665399

   The 3DP element "Pillar.stl" defaul lengh is 60mm .you need to resize by youself.
Just use the slice AP like as Cura can easy to change the lengh.










Main EE Material:
1.Using Arduino Mage 2560 or else...
2.6 servo -JX PDI6221MG.
   You also can use Tower MG995 ,the size is the same as JX PDI6221MG
    but JX PDI6221MG is better .


  The Servo between Arduino like as below:
D2 pin <==> Servo num 2  signal pin
D3 pin <==> Servo num 3  signal pin
D4 pin <==> Servo num 4  signal pin
D5 pin <==> Servo num 5  signal pin
D6 pin <==> Servo num 6  signal pin
D7 pin <==> Servo num 7  signal pin

This also is the servo number  define in my sample code.




Arduino sample code:

Download sample code:
https://github.com/Ashing00/Arbulucky_Feet/blob/master/Arbu_leg.ino

*.You need to calibrate your Servo's angle.
in this sample code When servo be initailized ,the Middle angle like as below.

//              Servo       2  ,3  ,4  ,5    ,6  ,7
 Servoangle234567(90,85,80,100,95,90);   //mid
//3:big=>front  6:small =>front//4:small=>front      5:big==>front






Walking DEMO:












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